Preprint
Aug 2026
Online Joint Calibration of Steering Offset and Planar LiDAR Extrinsics for Wheeled Mobile Robots
Accurate steering sensing and LiDAR-to-vehicle extrinsics are crucial for reliable path tracking in warehouse mobile robots (WMRs); miscalibration often leads to snaking, weaving, and elevated cross-track error (CTE). In practice, steering ``zero''is commonly set manually (e.g., eyeballing straightness via a PS4 joysti...
Subodh Mishra, A. Dhar, Suprotim Majumdar et al.
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